KR101693976B1 - Apparatus for assisting muscle strength - Google Patents

Apparatus for assisting muscle strength Download PDF

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Publication number
KR101693976B1
KR101693976B1 KR1020150049627A KR20150049627A KR101693976B1 KR 101693976 B1 KR101693976 B1 KR 101693976B1 KR 1020150049627 A KR1020150049627 A KR 1020150049627A KR 20150049627 A KR20150049627 A KR 20150049627A KR 101693976 B1 KR101693976 B1 KR 101693976B1
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South Korea
Prior art keywords
wire
elastic
holding
movement
link
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KR1020150049627A
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Korean (ko)
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KR20160120835A (en
Inventor
신완재
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현대자동차주식회사
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Priority to KR1020150049627A priority Critical patent/KR101693976B1/en
Publication of KR20160120835A publication Critical patent/KR20160120835A/en
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Publication of KR101693976B1 publication Critical patent/KR101693976B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A muscle assisting apparatus installed in a body part of a wearer including a joint part, the muscle assisting device comprising: at least one elastic part extending or contracting according to movement of a joint part to provide an assist force for movement of the joint part; A wire portion connecting the elastic portion and the elastic portion or the elastic portion and the body portion; And a holding part provided in the body part and restricting the movement of the wire part according to the change of the elastic part by holding or releasing the wire part.

Description

{APPARATUS FOR ASSISTING MUSCLE STRENGTH}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a muscle force assisting apparatus, and more particularly, to a muscle force assisting apparatus that provides an assist force to a wearer's joint motion.

Despite the fact that many types of work equipment have been developed, there are still tasks that need to be directly performed by people in various industrial sites or that increase efficiency when people are working.

Sometimes, however, these tasks require physical abilities that exceed the physical limitations of a person. In this case, a large number of people work together or a small number of people perform their work beyond their capabilities. There is always a risk that the efficiency of the bar and work may be reduced and the worker's personal injury may occur.

In order to solve this problem, wearable robots have been developed which can be worn directly by an operator and add an auxiliary force to the movement of an operator. In the conventional wearable robot, a plurality of metallic links are connected along the upper or lower limbs, And a driving motor is installed in the driving motor so as to provide an auxiliary force against the movement of the wearer.

However, wearable robots of this type have to use a high-capacity battery for driving them because of the necessity of using a driving motor. This has been a problem that has been caused by an increase in working load and an increase in worker fatigue there was. In addition, there has been a problem that auxiliary power can not be provided when the driving motor fails.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

KR10-2012-0104742A

SUMMARY OF THE INVENTION The present invention has been made in order to solve such problems, and it is an object of the present invention to provide a muscle force assisting apparatus capable of generating passive assist force in addition to active actuation using a drive motor.

According to another aspect of the present invention, there is provided a muscle force assisting apparatus installed in a body part of a wearer including a joint part. The muscle assisting device includes at least an elastic member for supporting or supporting the movement of the joint part, At least one resilient portion; A wire portion connecting the elastic portion and the elastic portion or the elastic portion and the body portion; And a holding part provided in the body part and restricting the movement of the wire part according to the change of the elastic part by holding or releasing the wire part.

A plurality of elastic portions are provided, and the wire portion includes a fixed wire having both ends connected to the elastic portion or the body portion, and a connecting wire connecting the elastic portion and the elastic portion.

The body part includes a plurality of parts connected via a joint, and the elastic part and the holding part can be provided for each part.

And a latching portion provided on each wire portion and coupled with the holding portion according to the movement of the wire portion to restrict movement of the wire.

The holding part is formed with a hollow inside and the wire part penetrates through the holding part. The holding part is located inside the holding part, moves together with the movement of the wire part, and engages with the holding part at a set point to restrict the movement of the wire part .

At both ends of the holding portion, through-holes are formed through the wire portions, and the areas of the through holes are formed smaller than the cross-sectional areas of the engaging portions, respectively, so that the movement of the engaging portions can be restricted.

A plurality of holding portions and latching portions may be provided, and each latching portion may have a different movable length within the corresponding holding portion.

And a link portion in which a plurality of links are rotatably coupled to each other along the body portion of the wearer, wherein the link portion is fixed to the body portion of the wearer, and the holding portion can be coupled to the link portion.

A sensing unit for detecting a rotation angle change or torque change of links and links connected to each other; A driving unit provided at a rotational coupling point of the link unit to rotate the interconnected link; And a control unit for driving the driving unit according to the detected rotation angle or torque value to provide an assist force to the joint motion of the body part.

A link portion in which a plurality of links are rotatably coupled to each other along a wearer's upper or lower limb; At least one elastic part extending or contracting according to the movement of the link part to provide an assist force to the movement of the link part; A wire portion provided along the link portion and connecting the elastic portion and the elastic portion or the elastic portion to the link portion; And

And a holding part provided at the link part and controlling the movement of the wire part according to the change of the elastic part by holding or releasing the wire part.

The wire portion is provided with an engaging portion capable of engaging with a magnetic body, and the holding portion may include an electromagnet to be able to engage with the engaging portion according to the movement of the wire.

According to the muscle force assisting apparatus having the above-described structure, it is possible to provide an assist force to the wearer even if a driving motor is not provided, which can result in cost reduction, weight saving, prolongation of life or improvement of work stability.

In addition, it is possible to prevent an excessive weight increase of the power assist device, thereby reducing the fatigue of the operator.

1 is a configuration diagram of a muscle power assisting device according to an embodiment of the present invention;
FIG. 2 illustrates an embodiment of a holding part according to an embodiment of the present invention. FIG.
3 is a view schematically showing the relationship between the elastic portion, the holding portion and the wire portion in the seating state

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

1 (a) is a state before a dislocation occurs in a joint part of a wearer, and FIG. 1 (b) shows a state in which a dislocation has occurred in a joint part of the wearer Fig.

As shown in FIG. 1, a muscle assisting device installed in a body part of a wearer including a joint part includes at least one elastic part 100 that extends or contracts according to movement of a joint part to provide an assist force for movement of the joint part. A wire part 200 connecting the elastic part 100 with the elastic part 100 or the elastic part 100 and the body part; And a holding part 300 provided in the body part and controlling the movement of the wire part 200 according to the change of the elastic part 100 by holding or releasing the wire part 200. [

It is preferable that the muscle force assisting device according to the present embodiment is a wearable muscle strength assisting device, and the body part may be applicable to the body of the wearer, Here, the upper limb or the lower limb can include both the arm end and the shoulder joint, and the limb can be included from the waist to the foot end.

In addition, the strength assisting device according to the present embodiment may be integrally coupled to the body part using a separate fixable coupling means, and the coupling means may include a band, a strap, Or a frame that is wrapped around the body and interlocked with each other.

FIG. 1 is a view showing that a muscle force assisting device according to an embodiment is installed on a wearer's base, and the holding part 300 can be coupled to the wearer's lower extremity using a coupling means. The holding part 300 may be directly fastened to the wearer's body part using a band or a strap, but is preferably fixed along the length of the wearer's body part and has a plurality of links rotatably coupled to each other And the holding unit 300 may be coupled to the link unit 400. [

The link portion 400 may be fixed to the body portion using a separate coupling means such as a band or a strap, and a rotational coupling point between the links may be positioned to correspond to the joint portion of the body portion, Do.

Meanwhile, the elastic part 100 may be an elastic body that is stretched or compressed according to an external force, preferably a spring that provides compression restoring force if it is stretched by an external force. Of course, the present invention is not necessarily limited thereto, and the pneumatic or hydraulic piston may be used to perform stretching or compression, or various other types of elastic means may be used.

In addition, a plurality of elastic parts 100 may be provided, and the body part may include a plurality of parts connected to each other through a joint, for example, a vertebra, a crotch and a calf in the case of a lower limb, (300) is preferably provided for each part described above. One or more elastic portions 100 may be provided for each part, and the numbers may be different from each other.

The wire 200 is coupled to the fixed wire 200a having one end coupled to the elastic portion 100 and the other end coupled to the body and a pair of elastic portions 100 having opposite ends connected to each other, And a connection wire 200b connecting the elastic member 100 to the elastic member 100. [

A plurality of fixing wires 200a may be provided and each of the other ends may be fixed to both ends of a length of the body part, for example, a vertebrae, a foot or a calf, The elastic member 100 and the fixing wire 200a are successively connected in this order from the side of the elastic member 100 to the connection wire 200b.

In addition, a pulley 500 is preferably provided at the joint part of the body part so that the wire part 200 can be hooked and moved. The pulley 500 may be directly coupled to the body part through the coupling means or coupled together at the rotational coupling point of the link part 400 to guide the movement path of the wire part 200 have.

1B, when the attitude of the wearer changes to a form requiring extension of the entire length of the wire part 200 and the elastic part 100 like the seating position, The elastic part 100 can be stretched by the pulling of the elastic part 100 and the elastic restoring force of the elastic part 100 can generate an assist force for restoring the attitude of the wearer.

Each of the wire parts 200 may further include a locking part 310 which is coupled with the holding part 300 according to the movement of the wire part 200 to restrict movement of the wire. Various embodiments are possible.

2 is a view showing various embodiments of the locking part 310 and the holding part 300. The locking part 310 is formed of a ball shaped block and is fixed to the wire part 200, 300 may be in the form of a housing having a hollow therein and the wire part 200 penetrates through the holding part and the locking part 310 is positioned in the hollow inside the holding part 300 to move the wire part 200 To move together in the hollow and to engage with the holding part 300 at a set point to limit the movement of the wire part 200. [ The set point may be variously determined according to the designer's intention, but it may be both ends of the holding part 300.

The holding portion 310 may have various shapes such as a latching protrusion and a structural body. The holding portion 300 may have a panel or a latching portion having a hole with a smaller cross-sectional area or diameter than the latching portion 310, 310 may be provided to prevent the movement of the latching part 310. Preferably, each of the holding portions 300 has a through hole through which the wire 200 penetrates, and the area or diameter of the through hole is formed to be smaller than the cross-sectional area or diameter of the engaging portion 310, To limit the movement of the endoscope.

2 (a) to 2 (e) are diagrams illustrating various embodiments of the holding part 300. The holding part 300 may have a cylindrical shape as shown in FIG. 2 (a) As shown in FIG. 2 (b) to FIG. 2 (c), the both ends may be gradually narrowed with various lengths, or both end portions may be curved as shown in FIG. 2 (d). 2 (d), the elastic part 100 may be located outside the holding part 300, but the holding part 300 may be provided with a locking part 310 as shown in FIG. 2 (e) And the elastic part 100 may be located inside the holding part 300. Also, a plurality of the latching parts 310 may be provided so as to be respectively hooked to the through holes formed at both ends of the holding part 300 according to the extension of the elastic part 100.

The holding part 300 may include a material capable of engaging with a magnetic body and the holding part 300 may be a part of the moving part of the wire 200, And may include an electromagnet so as to be able to be connected to the locking part 310 according to the present invention.

Therefore, when the elastic part 100 is extended and the position of the locking part 310 is moved corresponding to the holding part 300, the holding part 300 and the locking part 310 are magnetically joined to each other, (200) can be restricted.

In addition to the above-described form, the latching part 310 and the holding part 300 may be embodied in various forms.

As described above, the holding part 300 restricts the movement of the wire coupled with the engaging part 310 through the engagement with the engaging part 310, so that all of the plurality of elastic parts 100 have a uniform displacement And it is possible to apply more or less resilient restoring force to the point where the elastic part 100 is located and to receive auxiliary forces of different sizes for each joint part. The length of the plurality of holding parts 300 or the coupling point between the holding part 300 and the locking part 310 may be different from each other so that the locking parts 310 may move in different directions within the corresponding holding part 300. [ So that the stretching ranges of the elastic portions 100 can be set to be different from each other.

3 is a diagram schematically showing the relationship between the elastic part 100, the holding part 300 and the wire part 200 in the seating state, in which the elastic modulus of the elastic part 100 is all the same The length of the holding part 300 is such that when the first holding part 300a is larger than the second holding part 300b and the third holding part 300c, Locking is firstly generated due to the engagement of the locking part 310 in the second holding part 300b and the third holding part 300c and in this case the locking part corresponding to the second holding part 300b and the third holding part 300c The elongation of the second elastic portion 100b and the third elastic portion 100c is no longer generated. The first elastic part 100a is stretched while the latching part 310 of the first holding part 300a moves inside the first holding part 300a with respect to the additional extension, The auxiliary force acting on the joint part corresponding to the second holding part 300a is applied to the second holding part 300b and the auxiliary holding force applied to the third holding part 300c.

If the fixing wire 200a coupled to the first elastic part 100a is coupled to the ankle side, the displacement of the first elastic part 100a occurs most when the wearer is seated, The greatest restoring force is applied to the connecting wire 200b connecting between the first elastic part 100a and the second elastic part 100b so that the greatest restoring force can be applied to the knee joint part where the connecting wire 200b applies the restoring force.

The elastic modulus of each elastic part 100 and the length of the holding part 300 can be variously set and can be set according to the experiment and the designer's intention as required.

1, the muscle force assisting device according to an embodiment of the present invention may include a link unit 400 having a plurality of links along a length of a body part, A sensing unit (not shown) for detecting each change or torque change; A driving unit (not shown) provided at a rotational coupling point of the link unit 400 for rotating a link connected to the link unit 400; And a control unit 600 for driving the driving unit according to the detected rotation angle or torque value to provide an assist force to the joint motion of the body part.

The sensing unit may be a rotation angle sensor and a torque sensor, and the driving unit may be a motor that rotates the link. The controller 600 determines that the assist force of the elastic part 100 is insufficient, It is possible to provide an appropriate driving force by driving the driving unit in various preset situations such as when it is determined that the driving is necessary or when it is determined that active driving is necessary.

According to the muscle force assisting apparatus having the above-described structure, it is possible to provide an assist force to the wearer even if a driving motor is not provided, which can result in cost reduction, weight saving, prolongation of life or improvement of work stability.

In addition, even when a driving motor is provided, it is possible to downsize the size of the battery and the motor, thereby preventing an excessive increase in the weight of the muscle power assisting device, thereby reducing the fatigue of the operator.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

100: elastic part 200: wire part
300: holding part 400: link part
500: pulley 600:

Claims (11)

A muscle assisting apparatus installed in a body part of a wearer including a joint part,
At least one elastic part extending or contracting according to the movement of the joint part to provide an assist force for the movement of the joint part;
A wire portion connecting the elastic portion and the elastic portion or the elastic portion and the body portion;
A holding part provided at the body part and restricting the movement of the wire part according to the change of the elastic part by holding or releasing the wire part; And
And a latching portion provided on each of the wire portions and coupled with the holding portion according to the movement of the wire portion to restrict movement of the wire. The method according to claim 1,
Wherein a plurality of elastic portions are provided, and the wire portion includes a fixed wire having both ends connected to the elastic portion or the body portion, and a connecting wire connecting the elastic portion and the elastic portion. Claim 1
Wherein the body part includes a plurality of parts connected to each other via a joint, and the elastic part and the holding part are provided for each part. delete Claim 1
The holding part is formed with a hollow inside and the wire part penetrates through the holding part. The holding part is located inside the holding part, moves along with the movement of the wire part, and engages with the holding part at a set point to limit the movement of the wire part. . Claim 5
Wherein a through hole is formed in both end portions of the holding portion so as to penetrate the wire portion and the through hole is formed to have an area smaller than the cross sectional area of the engaging portion so as to limit the movement of the engaging portion. Claim 5
Wherein a plurality of holding portions and engaging portions are provided, and each of the engaging portions has a movable length different within the corresponding holding portion. Claim 1
Further comprising: a link portion in which a plurality of links are rotatably coupled to each other along a body portion of the wearer, wherein the link portion is fixed to the wearer's body portion, and the holding portion is coupled to the link portion. Claim 8
A sensing unit for detecting a rotation angle change or torque change of links and links connected to each other; A driving unit provided at a rotational coupling point of the link unit to rotate the interconnected link; And a control unit for driving the driving unit according to the detected rotation angle or torque value to provide an assist force to the joint motion of the body part. A link portion in which a plurality of links are rotatably coupled to each other along a wearer's upper or lower limb;
At least one elastic part extending or contracting according to the movement of the link part to provide an assist force to the movement of the link part;
A wire portion provided along the link portion and connecting the elastic portion and the elastic portion or the elastic portion to the link portion;
And a holding portion provided at the link portion and controlling the movement of the wire portion according to the change of the elastic portion by holding or releasing the wire portion,
Wherein the wire portion is formed with a latching portion capable of engaging with a magnetic body, and the holding portion includes an electromagnet so as to be able to be joined to the latching portion with movement of the wire. delete
KR1020150049627A 2015-04-08 2015-04-08 Apparatus for assisting muscle strength KR101693976B1 (en)

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KR101932755B1 (en) * 2017-02-16 2018-12-26 한국기계연구원 Elastic leg exoskeleton with adjustable stiffness device
KR20190000172A (en) 2017-06-22 2019-01-02 주식회사 에프알티 Flexible joint for auxetic suit
KR20200125074A (en) 2019-04-26 2020-11-04 전북대학교산학협력단 Smart suit
KR20210133382A (en) 2020-04-29 2021-11-08 전북대학교산학협력단 Smart suit
KR20230001283A (en) 2021-06-28 2023-01-04 전북대학교산학협력단 Auxiliary work clothes with interchangeable elastic member
KR20230034614A (en) * 2021-09-03 2023-03-10 국방과학연구소 Flexible wearable robot

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CN108938338B (en) * 2017-05-23 2024-07-16 深圳市奇诺动力科技有限公司 Three-degree-of-freedom ankle joint device of exoskeleton robot
KR102045657B1 (en) * 2017-12-28 2019-11-15 한양대학교 에리카산학협력단 Walking Assistance Apparatus and Walking Assistance Method
US11986693B2 (en) 2018-11-21 2024-05-21 Seoul National University R&Db Foundation Wearable device using flexible non-powered variable impedance mechanism
US11141344B2 (en) 2018-12-27 2021-10-12 Chin-Sung Yang Assistant apparatus for degenerative joint
KR102151229B1 (en) * 2019-09-05 2020-09-02 엘아이지넥스원 주식회사 Weight Assist System and Apparatus therefor
CN112245238B (en) * 2020-10-21 2021-08-24 江南大学 Rehabilitation exoskeleton walking aid based on human body gravitational potential energy conversion

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
KR101932755B1 (en) * 2017-02-16 2018-12-26 한국기계연구원 Elastic leg exoskeleton with adjustable stiffness device
KR20190000172A (en) 2017-06-22 2019-01-02 주식회사 에프알티 Flexible joint for auxetic suit
KR20200125074A (en) 2019-04-26 2020-11-04 전북대학교산학협력단 Smart suit
KR20210133382A (en) 2020-04-29 2021-11-08 전북대학교산학협력단 Smart suit
KR20230001283A (en) 2021-06-28 2023-01-04 전북대학교산학협력단 Auxiliary work clothes with interchangeable elastic member
KR20230034614A (en) * 2021-09-03 2023-03-10 국방과학연구소 Flexible wearable robot
KR102510656B1 (en) * 2021-09-03 2023-03-16 국방과학연구소 Flexible wearable robot

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